An Analysis of Astrictive Prehension

Abstract

Astrictive robot grippers are one of the most common methods of prehension used in automation, which include vacuum suc tion, magnetoadhesion and electroadhesion. The most important parameters when considering the implementation of any grip per, including astrictive devices, are retention pressure, energy efficiency, and response time. The actual gripping techniques evaluated qualitatively and quantitatively in this article are not new. What is new is the comparative theoretical analysis and its applicability to the evaluation of response times and relative energy efficiencies of astrictive robot grippers. Coupled with the material- and surface geometry-dependent factors, this provides the basic essentials required in research, development, and design. It is the intention of this article to present the ba sic theory and examples of typical parameters in order to assist in the selection of appropriate gripping techniques and to aid in the design process.